Emcy (Emergency Object) - Delta C2000 series User Manual

All PDO transmission data must be mapped to index via Object Dictionary.
Example:
CAN(H)
CAN(L)
PDO1 data value Data 0, Data 1, Data 2, Data 3, Data 4, Data 5, Data 6, Data 7,
PDO1 Map
0x60400010
PDO1 data value Data 0, Data 1, Data 2, Data 3, Data 4, Data 5, Data 6, Data 7,
PDO1 Map

EMCY (Emergency Object)

Emergency objects are triggered when hardware failure occurs for a warning interrupt. The data
format of a emergency object is a 8 bytes data as shown in the following:
Byte 0
Content Emergency Error Code
Please refer to Chapter 5 CANopen error codes for emergency definition of C2000.
Master transmits PDO
PDO1
Master
0x11, 0x22, 0x33,
Index Sub Definition
0x1600 0 0. Number
1 1. Mapped Object
0x1600
2. Mapped Object
0x1600 2
3
0x1600 3. Mapped Object
4. Mapped Object
0x1600 4
0 0. Control word
0x6040
Slave returns message to Master
CAN(H)
CAN(L)
Master
0xF3, 0x00,
Index Sub Definition
0x1A00 0 0. Number
1 1. Mapped Object
0x1A00
2. Mapped Object
0x1A00 2
3
0x1A00 3. Mapped Object
0x1A00 4 4. Mapped Object
0 Status Word
0x6041
1
Error register
(Object 1001H)
15-6
Chapter 15 CANopen Overview |C2000 Series
data to Slave
Slave
0x44, 0x55, 0x66, 0x77,
Value
1
0x60400010
0
0
0
0x2211
PDO1
Value
1
0x60410010
0
0
0
0xF3
2 3
Manufacturer specific Error Field
0x88,
R/W Size
R/W U8
R/W
U32
R/W
U32
R/W U32
R/W U32
U16
R/W
(2 Bytes)
Slave
R/W Size
R/W U8
R/W U32
R/W
U32
R/W U32
R/W U32
R/W U16
4 5 6 7